Soil sensing systems and implements for sensing different soil parameters

ABSTRACT

Embodiments of the present disclosure relate to systems and implements for sensing, analyzing, and displaying different soil parameters. A soil sensing system includes a mechanical component of an agricultural implement and at least one sensor disposed on the mechanical component. The sensor generates an electromagnetic field through a region of soil as the agricultural implement traverses a field. The sensor comprises at least one radar transmitter and at least one radar receiver and the sensor measures different soil parameters including a soil dielectric constant.

RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional Application No.62/573,408, filed on Oct. 17, 2017 entitled: SOIL SENSING SYSTEMS ANDIMPLEMENTS FOR SENSING DIFFERENT SOIL PARAMETERS, the entire contents ofwhich are hereby incorporated by reference.

TECHNICAL FIELD

Embodiments of the present disclosure relate to systems and implementsfor sensing, analyzing, and displaying different soil parameters.

BACKGROUND

It is well known that proper and uniform seed trench depth, accurateplacement of seed within the seed trench (at the proper depth and properspacing), good seed-to-soil contact, and minimal crop residue within theseed trench are all critical factors in uniform seed emergence and highyields. Accordingly, various planter improvements have been proposed toachieve each of these factors. While conducting spot checks of the seedtrench may help to provide some assurances that these critical factorsare being achieved, such spot checks will only identify the conditionsat the specific location being checked. Accordingly, there is a need fora system that will image the seed trench to verify and ensure thesecritical factors are being achieved during planting operations and toenable automatic or remote adjustment of the planter while on-the-gobased on the images. There is a similar need forbelow-soil-surfacing-imaging and control for other types of agriculturalimplements, including tillage implements, sidedress or in-groundfertilizing implements and agricultural data gathering implements.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure is illustrated by way of example, and not by wayof limitation, in the Figures of the accompanying drawings and in which:

FIG. 1 schematically illustrates one embodiment of a work layer sensor,in elevation view, disposed in relation a seed trench.

FIGS. 2A-2C are representative examples of work layer images generatedby the work layer sensor of FIG. 1.

FIG. 3 schematically illustrates another embodiment of a work layersensor, in plan view, disposed in relation to a seed trench.

FIGS. 4A-4B are representative examples of work layer images generatedby the work layer sensor of FIG. 3.

FIG. 5 schematically illustrates another embodiment of a work layersensor, in elevation view, disposed in relation to a seed trench.

FIG. 6 is a representative example of a work layer image generated bythe work sensor of FIG. 5.

FIG. 7 is a side elevation view of an embodiment of a row unit of anagricultural planter incorporating a work layer sensor of FIG. 1, 3 or5.

FIG. 8 illustrates an embodiment of a work layer implement monitoring,control and operator feedback system.

FIG. 9 is a chart showing a process for work layer implement monitoring,control and operator feedback.

FIG. 10 schematically illustrates another embodiment of a work layersensor, in plan view, disposed in relation to a seed trench.

FIG. 11 schematically illustrates another embodiment of a work layersensor, in plan view, disposed in relation to a seed trench.

FIG. 12 schematically illustrates another embodiment of a work layersensor, in side view, disposed in relation to a seed trench.

FIG. 13 schematically illustrates, in side view, a spatial relationshipbetween a transmitter and a receiver.

FIG. 14 schematically illustrates another embodiment, in side view, of alaser system.

FIG. 15 is representative example of work layer image generated by anyof the work layer sensors.

FIG. 16A illustrates raw soil data at different depths in accordancewith one embodiment.

FIG. 16B illustrates processed soil data at different depths inaccordance with one embodiment.

FIG. 17 illustrates a monitor displaying soil density data.

FIG. 18 illustrates a monitor displaying soil density data.

FIG. 19 illustrates a monitor spatially displaying the depth of a firstsoil density change across a field.

FIG. 20 illustrates a monitor displaying soil density variability.

FIG. 21 illustrates a monitor displaying soil surface roughness.

FIG. 22 illustrates a monitor displaying residue mat thickness.

FIG. 23 illustrates a monitor spatially displaying residue matthickness.

FIG. 24 shows an example of a system 1200 that includes a machine 1202(e.g., tractor, combine harvester, etc.) and an implement 1240 (e.g.,planter, sidedress bar, cultivator, plough, sprayer, spreader,irrigation implement, etc.) in accordance with one embodiment.

FIG. 25 illustrates a method 2500 of measuring residue mat thickness ofresidue in a field.

FIG. 26 illustrates a method 2600 to generate processed soil data.

FIG. 27 illustrates a method 2700 of measuring soil characteristics in afield.

BRIEF SUMMARY

Embodiments of the present disclosure relate to systems and implementsfor sensing, analyzing, and displaying different soil parameters.

DETAILED DESCRIPTION

All references cited herein are incorporated herein in their entireties.If there is a conflict between a definition herein and in anincorporated reference, the definition herein shall control. At leastone of A, B, and C refers to a selection of A alone, B alone, C alone, acombination of A and B, a combination of A and C, a combination of B andC, or a combination of A and B and C.

Referring now to the drawings, wherein like reference numerals designateidentical or corresponding parts throughout the several views, FIGS. 1,3 and 5 schematically illustrate alternative embodiments of a work layersensor 100 to generate a signal or image representative of the soildensities or other soil characteristics throughout a soil region ofinterest, hereinafter referred to as the “work layer” 104. Therepresentative image or signal generated by the work layer sensor 100 ishereinafter referred to as the “work layer image” 110. In one particularapplication discussed later, the work layer sensors 100 may be mountedto a planter row unit 200 (FIG. 7) for generating a work layer image 110of the seed trench as the planter traverses the field. The work layerimage 110 may be displayed on a monitor 300 visible to an operatorwithin the cab of a tractor and the planter may be equipped with variousactuators for controlling the planter based on the characteristics ofthe work layer 104 as determined from the work layer image 110.

The work layer sensor 100 for generating the work layer image 110 maycomprise a ground penetrating radar system, an ultrasound system, anaudible range sound system, an electrical current system or any othersuitable system for generating an electromagnetic field 102 through thework layer 104 to produce the work layer image 110. It should beunderstood that the depth and width of the work layer 104 may varydepending on the agricultural implement and operation being performed.

FIG. 1 is a schematic illustration of one embodiment of a work layersensor 100-1 disposed in relation to a seed trench 10 formed in the soil11 by a planter, wherein the seed trench 10 comprises the soil region ofinterest or work layer 104. In this embodiment, the work layer sensor100-1 comprises a transmitter (T1) disposed on one side of the seedtrench 10 and a receiver (R1) disposed on the other side of the seedtrench 10 to produce the electromagnetic field 102 through the seedtrench to generate the work layer image 110.

In some embodiments, the work layer sensor 100 may comprise aground-penetration radar subsurface inspection system such as any of thefollowing commercially available systems: (1) the StructureScan™ Mini HRavailable from GSSI in Nashua, N.H.; (2) the 3d-Radar GeoScope™ Mk IVcoupled to a 3d-Radar VX-Series and/or DX-Series multi-channel antenna,all available from 3d-Radar AS in Trondheim, Norway; or (3) the MALAImaging Radar Array System available from MALA Geoscience in Mala,Sweden. In such embodiments, the commercially available system may bemounted to the planter or other implement, or may be mounted to a cartwhich moves with the implement; in either case the system is preferablydisposed to capture an image of a work layer in the area of interest(e.g., the seed trench). In some embodiments, the work layer image 110may be generated from the signal outputs of the work layer sensor 100using commercially available software such as GPR-SLICE (e.g., version7.0) available from GeoHiRes International Ltd. located in Borken,Germany.

FIGS. 2A-2C are intended to be representative examples of work layerimages 110 generated by the work layer sensor 100-1 of FIG. 1 showingvarious characteristics of the seed trench 10, including, for example,the trench depth, the trench shape, depth of seed 12, the seed depthrelative to the trench depth, crop residue 14 in the trench, and thevoid spaces 16 within the trench. As described in more detail later, thework layer images 110 may be used to determine other characteristics ofthe work layer 104, including, for example, the seed-to-soil contact,percentage of trench closed, percentage of upper half of trench closed,percentage of lower half of trench closed, moisture of the soil, etc.

FIG. 3 schematically illustrates, in plan view, another embodiment of awork layer sensor 100-2 disposed with respect to a seed trench 10. Inthis embodiment, a transmitter (T1) is disposed on one side of the seedtrench 10, a first receiver (R1) is disposed on the other side of theseed trench 10, and a second receiver (R2) is disposed adjacent andrearward of the transmitter (T1). FIG. 4A is a representativeillustration of the work layer image 110 generated through the trenchbetween the transmitter (T1) and the first receiver (R1)) and FIG. 4B isa representative illustration of the work layer image 110 generatedbetween the transmitter (T1) and the second receiver (R2) providing animage of the undisturbed soil adjacent to the seed trench.

FIG. 5 is an elevation view schematically illustrating another worklayer sensor embodiment 100-3 disposed with respect to a seed trench 10.In this embodiment, the work layer sensor 100-3 comprises a plurality oftransmitter and receiver pairs disposed above and transverse to the seedtrench 10.

FIG. 6 is a representative illustration of the work layer image 110generated by the work layer sensor 100-3 of FIG. 5 which provides a viewnot only of the seed trench but also a portion of the soil adjacent toeach side of the seed trench.

FIG. 10 schematically illustrates, in plan view, another embodiment of awork layer sensor 100-4 disposed with respect to a seed trench 10. Inthis embodiment, a transmitter (T1) is disposed over the seed trench 10.Disposed rearward to transmitter (T1) in a direction of travel are threereceivers (R1), (R2), and (R3). Receivers (R1) and (R3) are disposedover each side of seed trench 10, respectively. Receiver (R2) isdisposed over seed trench 10. Work layer images similar to those shownin FIGS. 2A to 2C can be generated by work layer sensor 100-4.

FIG. 11 schematically illustrates, in plan view, another embodiment of awork layer sensor 100-5 disposed with respect to a seed trench 10. Inthis embodiment, transmitter (T2) is disposed over the seed trench 10,and transmitters (T1) and (T3) are disposed over each side of seedtrench 10, respectively. Disposed rearward to transmitters (T1), (T2),and (T3) in a direction of travel are three receivers (R1), (R2), and(R3). Receivers (R1) and (R3) are disposed over each side of seed trench10, respectively. Receiver (R2) is disposed over seed trench 10. Worklayer images similar to those shown in FIGS. 2A to 2C can be generatedby work layer sensor 100-5.

FIG. 12 schematically illustrates, in side view, another embodiment of awork layer sensor 100-6 disposed with respect to seed trench 10. In thisembodiment, transmitter (T1) is disposed over the seed trench 10 and hasa transmitting angle that encompasses both sides of seed trench 10.Receiver (R1) can be disposed adjacent to or rearward to transmitter(T1). By having a transmitting angle that reaches both sides of seedtrench 10, the reflected signal received by receiver (R1) is then anaverage of both sides of seed trench 10. This provides a singlemeasurement that is an average of the distance from the transmitter (T1)to the seed trench 10.

Any of the work layer sensor embodiments 100-1, 100-2, 100-3, 100-4,100-5, 100-6 can also produce a work layer image as illustrated in FIG.15. FIG. 15 is a profile of an open seed trench 10, shown with anoptional seed.

For each of the work layer sensor embodiments 100-1, 100-2, 100-3,100-4, 100-5, 100-6 the frequency of operation of the work layer sensors100 and the vertical position of the transmitters (T) and receivers (R)above the soil and the spacing between the transmitters (T) andreceivers (R) are selected to minimize signal to noise ratio while alsocapturing the desired depth and width of the soil region of interest(the work layer 104) for which the work layer image 110 is generated. Inan embodiment illustrated in FIG. 13, the height of the receiver (R)above the ground can be less than the height of the transmitter (T)above the ground. An angle a formed between the transmitter (T) and thereceiver (R) can be 0 up to 80°.

In an embodiment illustrated in FIG. 14, a laser (L1) is positionedabove a seed trench 10 and projects a laser into seed trench 10. Areceiver (R1), such as a camera, is positioned to receive the reflectedlaser signal. Receiver (R1) is at a height above ground that is lessthan the height of laser (L1) above the ground. An angle b formedbetween the laser (L1) and the receiver (R) can be greater than 0 up to80°. The same control system can be used, with laser (L1) replacing atransmitter (T).

In one embodiment, the transmitter frequency selected can be one thatcan penetrate vegetation and see the soil below. By not seeing thevegetation, a more accurate measurement is obtained for the depth ofseed trench 10. It has been determined that the higher the frequency,the more the radar signal is reflected by vegetation. In one embodiment,the frequency is 24 GHz. In another embodiment, the frequency selectedcan be one that can penetrate dust. Dust can be generated as anagricultural vehicle traverses a field. Frequencies in a range of 1 to100 GHz can penetrate dust. In any of the work layer sensor embodiments100-1, 100-2, 100-3, 100-4, 100-5, 100-6, any of the transmitters (T) orreceivers (R) can have a frequency that penetrates vegetation and dust.In another embodiment, any of the work layer sensor embodiments 100-1,100-2, 100-3, 100-4, 100-5 any of the transmitters (T) or receivers (R)can be replaced by multiple transmitters (T) or receivers (R) at thelocations illustrated with each transmitter (T) or receiver (R) having adifferent frequency, such as one that will penetrate through vegetationand one that will penetrate through dust. A composite of the two worklayers can be used to generate the profile of seed trench 10.

In one embodiment, the radar is Doppler radar. Doppler radar can providethe speed of a row unit 200, which can then be used in a control systemto change the rate of application of an agricultural input to obtain aselected application per linear distance or area. Agricultural inputsinclude, but are not limited to, seed, fertilizer, insecticide,herbicide, and fungicide. The Doppler radar can be coherent pulsed,pulse-Doppler, continuous wave, or frequency modulation. The Dopplerradar can be used with any of work layer sensor embodiments 100-1,100-2, 100-3, 100-4, 100-5, 100-6.

In one embodiment, the radar is a phased array radar. With a phasedarray radar, the signals generated by the phased array can be moved fromside to side in seed trench 10 to provide a more detailed profile ofseed trench 10. The phased array radar can be used with any of worklayer sensor embodiments 100-1, 100-2, 100-3, 100-4, 100-5, 100-6.

Planter Applications FIG. 7 illustrates one example of a particularapplication of the work layer sensors 100 disposed on a row unit 200 ofan agricultural planter. The row unit 200 includes a work layer sensor100A disposed on a forward end of the row unit 200 and a work layersensor 100B disposed rearward end of the row unit 200. The forward andrearward work layer sensors 100A, 100B may comprise any of theembodiments of the work layer sensors 100-1, 100-2, 100-3, 100-4, 100-5,100-6 previously described.

The forward work layer sensor 100A is disposed to generate a referencework layer image (hereinafter a “reference layer image”) 110A of thesoil prior to the soil being disturbed by the planter, whereas therearward work layer sensor 100B generates the work layer image 110B,which in this example, is the image of the closed seed trench 10 inwhich the seed has been deposited and covered with soil. For the reasonsexplained later, it is desirable to obtain both a reference image 110Aand the work layer image 110B for analysis of the soil characteristicsthrough the work layer 104.

It should be appreciated that the forward and rearward work layersensors 100A, 100B referenced in FIG. 7 may employ any of theembodiments 100-1, 100-2 or 100-3.100-4, 100-5, 100-6 previouslydescribed. However, it should be appreciated that if the embodiments100-2, 100-3, 100-4, or 100-5 are employed, the forward work layersensor 100A may be eliminated because the embodiments 100-2, 100-3,100-4, and 100-5 are configured to generate the work layer images 110 ofundisturbed soil adjacent to the seed trench 10 which could serve as thereference layer image 110A.

With respect to FIG. 7, the row unit 200 is comprised of a frame 204pivotally connected to the toolbar 202 by a parallel linkage 206enabling each row unit 200 to move vertically independently of thetoolbar 202. The frame 204 operably supports one or more hoppers 208, aseed meter 210, a seed delivery mechanism 212, a downforce controlsystem 214, a seed trench opening assembly 220, a trench closingassembly 250, a packer wheel assembly 260, and a row cleaner assembly270. It should be understood that the row unit 200 shown in FIG. 7 maybe for a conventional planter or the row unit 200 may be a central fillplanter, in which case the hoppers 208 may be replaced with one or moremini-hoppers and the frame 204 modified accordingly as would berecognized by those of skill in the art.

The downforce control system 214 is disposed to apply lift and/ordownforce on the row unit 200 such as disclosed in U.S. Publication No.US2014/0090585.

The seed trench opening assembly 220 includes a pair of opening discs222 rotatably supported by a downwardly extending shank member 205 ofthe frame 204. The opening discs 222 are arranged to diverge outwardlyand rearwardly so as to open a v-shaped trench 10 in the soil 11 as theplanter traverses the field. The seed delivery mechanism 212, such as aseed tube or seed conveyor, is positioned between the opening discs 222to deliver seed from the seed meter 210 and deposit it into the openedseed trench 10. The depth of the seed trench 10 is controlled by a pairof gauge wheels 224 positioned adjacent to the opening discs 222. Thegauge wheels 224 are rotatably supported by gauge wheel arms 226 whichare pivotally secured at one end to the frame 204 about pivot pin 228. Arocker arm 230 is pivotally supported on the frame 204 by a pivot pin232. It should be appreciated that rotation of the rocker arm 230 aboutthe pivot pin 232 sets the depth of the trench 10 by limiting the upwardtravel of the gauge wheel arms 226 (and thus the gauge wheels) relativeto the opening discs 222. The rocker arm 230 may be adjustablypositioned via a linear actuator 234 mounted to the row unit frame 204and pivotally coupled to an upper end of the rocker arm 230. The linearactuator 234 may be controlled remotely or automatically actuated asdisclosed, for example, in International Publication No. WO2014/186810.

A downforce sensor 238 is configured to generate a signal related to theamount of force imposed by the gauge wheels 224 on the soil. In someembodiments the pivot pin 232 for the rocker arm 230 may comprise thedownforce sensor 238, such as the instrumented pins disclosed in U.S.Pat. No. 8,561,472. The seed meter 210 may be any commercially availableseed meter, such as the fingertype meter or vacuum seed meter, such asthe vSet® meter, available from Precision Planting LLC, 23207 TownlineRd, Tremont, Ill. 61568.

The trench closing assembly 250 includes a closing wheel arm 252 whichpivotally attaches to the row unit frame 204. A pair of offset closingwheels 254 are rotatably attached to the closing wheel arm 252 andangularly disposed to direct soil back into the open seed trench so asto “close” the soil trench. An actuator 256 may be pivotally attached atone end to the closing wheel arm 252 and at its other end to the rowunit frame 204 to vary the down pressure exerted by the closing wheels254 depending on soil conditions. The closing wheel assembly 250 may beof the type disclosed in International Publication No. WO2014/066650.

The packer wheel assembly 260 comprises an arm 262 pivotally attached tothe row unit fame 204 and extends rearward of the closing wheel assembly250 and in alignment therewith.

The arm 262 rotatably supports a packer wheel 264. An actuator 266 ispivotally attached at one end to the arm and at its other end to the rowunit frame 204 to vary the amount of downforce exerted by the packerwheel 264 to pack the soil over the seed trench 10.

The row cleaner assembly 270 may be the CleanSweep® system availablefrom Precision Planting LLC, 23207 Townline Rd, Tremont, Ill. 61568. Therow cleaner assembly 270 includes an arm 272 pivotally attached to theforward end of the row unit frame 204 and aligned with the trenchopening assembly 220. A pair of row cleaner wheels 274 are rotatablyattached to the forward end of the arm 272. An actuator 276 is pivotallyattached at one end to the arm 272 and at its other end to the row unitframe 204 to adjust the downforce on the arm to vary the aggressivenessof the action of the row cleaning wheels 274 depending on the amount ofcrop residue and soil conditions.

It should be appreciated that rather than positioning the work layersensors 100 as shown in FIG. 7, the work layer sensors may be positionedafter the row cleaner assembly 270 and before the trench openingassembly 220 or in one or more other locations between the trenchopening discs 222 and the closing wheels 254 or the packing wheel 264depending on the soil region or characteristics of interest.

Planter Control and Operator Feedback FIG. 8 is a schematic illustrationof a system 500 which employs work layer sensors 100 to provide operatorfeedback and to control the planter row unit 200. Work layer sensors100A, 100B are disposed to generate a reference layer image 110A ofundisturbed soil and a work layer image 110B of the closed seed trench(i.e., after seed is deposited, covered with soil by the closing wheelassembly 250 and the soil packed with the packing wheel assembly 260).As previously described, the work layer sensors 100A, 100B may beseparate work layer sensors disposed forward and rearward of the rowunit 200 as illustrated in FIG. 7, or the work layer sensors 100A, 100Bmay comprise a single work layer sensor with transmitters (T) andreceivers (R) disposed to generate both a reference layer image 110A anda work layer image 110B.

The work layer image 110B may be communicated and displayed to theoperator on a monitor 300 comprising a display, a controller and userinterface such as a graphical user interface (GUI), within the cab ofthe tractor.

The monitor 300 may be in signal communication with a GPS unit 310, therow cleaner actuator 276, the downforce control system 214, the depthadjustment actuator 234, the trench closing assembly actuator 256 andthe packer wheel assembly actuator 266 to enable operational control ofthe planter based on the characteristics of the work layer image 110B.For example, if the work layer image 110B indicates that residue in theseed trench 10 is above a predetermined threshold (as explained below),a signal is generated by the monitor 300 to actuate the row cleaneractuator 276 to increase row cleaner downforce. As another example, ifthe seed depth is less than a predetermined threshold (as explainedbelow), a signal is generated by the monitor 300 to actuate thedownforce control system 214 to increase the downforce and/or to actuatethe depth adjustment actuator 234 to adjust the gauge wheels 234relative to the opening discs 232 to increase the trench depth. Likewiseif the seed depth is greater than a predetermined threshold, a signal isgenerated by the monitor 300 to actuate the downforce control system 214to decrease the downforce and/or to actuate the depth adjustmentactuator 234 to decrease the trench depth. As another example, if theupper portion of the trench has more than a threshold level of voidspace (as explained below), a signal is generated by the monitor 300 toactuate the trench closing wheel assembly actuator 256 to increase thedownforce on the closing wheels 254. As another example, if the lowerportion of the trench has more than a threshold level of void space (asexplained below), a signal is generated by the monitor 300 to actuatethe packer wheel assembly actuator 266 to increase the downforce on thepacker wheel 264.

In still other examples, the work layer image 110B may identify and/oranalyze (e.g., determine depth, area, volume, density or other qualitiesor quantities of) subterranean features of interest such as tile lines,large rocks, or compaction layers resulting from tillage and other fieldtraffic. Such subterranean features may be displayed to the user on themonitor 300 and/or identified by the monitor 300 using an empiricalcorrelation between image properties and a set of subterranean featuresexpected to be encountered in the field. In one such example, the areatraversed by the gauge wheels (or other wheels) of the planter (ortractor or other implement or vehicle) may be analyzed to determine adepth and/or soil density of a compaction layer beneath the wheels. Insome such examples, the area of the work layer image may be divided intosubregions for analysis based on anticipated subterranean features insuch sub-regions (e.g., the area traversed by the gauge wheels may beanalyzed for compaction).

In other examples, the monitor 300 may estimate a soil property (e.g.,soil moisture, organic matter, or electrical conductivity, water tablelevel) based on image properties of the work layer image 110B anddisplay the soil property to the user as a numerical (e.g., average orcurrent) value or a spatial map of the soil property at geo-referencedlocations in the field associated with each soil property measurement(e.g., by correlating measurements with concurrent geo-referencedlocations reported the GPS unit 310).

Alternatively or additionally, the monitor 300 could be programmed todisplay operational recommendations based on the characteristics of thework layer image 110B. For example, if the work layer image 110Bidentifies that the seed 12 is irregularly spaced in the trench 10 or ifthe seed 12 is not being uniformly deposited in the base of the trench,or if the spacing of the seed 12 in the trench does not match theanticipated spacing of the seed based on the signals generated by theseed sensor or speed of the seed meter, such irregular spacing,nonuniform positioning or other inconsistencies with anticipated spacingmay be due to excess speed causing seed bounce within the trench orexcess vertical acceleration of the row unit. As such, the monitor 300may be programmed to recommend decreasing the planting speed or tosuggest increasing downforce (if not automatically controlled aspreviously described) to reduce vertical acceleration of the planter rowunits. Likewise to the extent the other actuators 276, 214, 234, 256,266 are not integrated with the monitor controller, the monitor may beprogrammed to display recommendations to the operator to make manual orremote adjustments as previously described based on the characteristicsof the work layer image 110B.

FIG. 9 illustrates the process steps for controlling the planter andproviding operator feedback. At steps 510 and 512, the reference image110A and work layer image 110B is generated by the work image sensor(s)100. At step 514, the work layer image 110B may be displayed to theoperator on the monitor 300 in the cab of the tractor. At step 516, thereference layer image 110A is compared with the work layer image 110B tocharacterize the work layer image. At step 518, the characterized worklayer image 110B is compared to predetermined thresholds. At step 520,control decisions are made based on the comparison of the characterizedwork layer image 110B with the predetermined thresholds. At step 522,the planter components may be controlled by the monitor 300 generatingsignals to actuate one or more of the corresponding actuators 276, 214,234, 256, 266 and/or at step 524, corresponding 0 recommendations may bedisplayed to the operator on the monitor display.

To characterize the work layer image 110B at step 516, the monitor 300compares one or more characteristics (e.g., density) of the referenceimage 110A with the same characteristics of the work layer image 110B.In some embodiments, a characterized image may be generated comprisingonly portions of the work layer image differing from the reference imageby at least a threshold value. The characterized image may then be usedto identify and define features of the work layer image 110B, such asthe trench shape, the trench depth, residue in the trench, seeds andseed placement within the trench, void spaces within the trench, anddensity differences of the soil within the trench.

For example, to determine the seed depth, the seed is identified oridentifiable from the work layer image 110B by determining regionswithin the work layer image having a size or shape corresponding to aseed and having a density range empirically corresponding to seed. Oncea region is identified as a seed, the vertical position of the seed withrespect to the soil surface is readily measurable or determined.

As another example, the amount of residue in the trench can bedetermined by (a) defining the area of the trench cross-section (basedon soil density differences between the reference image 110A and thework layer image 110B); (b) by identifying the regions within the trenchhaving a density range empirically corresponding to residue; (c)totaling the area of the regions corresponding to residue; and (d)dividing the residue area by the trench cross-sectional area. OtherApplications—It should be appreciated that work layer sensors 100 may beemployed with other agricultural implements and operations, such as, forexample, tillage operations and/or side-dress fertilization operations,or in connection with agricultural data gathering operations to view oranalyze below-surface soil characteristics, seed placement, rootstructure, location of underground water-management features such astiling, etc.

When employed with tillage implements, the work layer sensors 100 may bedisposed forward of any tillage tools (i.e., shank, disk, blade, knife,spoon, coulter, etc.) or between 1 forward and rearward spaced tillagetools and/or rearward of any tillage tools. When employed with sidedressor other in-ground fertilization tools, the work layer sensors 100 maybe disposed forward or rearward of any sidedress or in-ground tools(i.e., shank, disk, blade, knife, spoon, coulter, leveling basketharrows, etc.).

When employed with a dedicated measurement implement, the work layersensors 100 may be disposed above undisturbed soil which may or may nothave residue cleared by a row cleaner.

For the tillage implements and sidedress or in-ground fertilizationtools, actuators on these implements can be automatically controlled toadjust depth of the tillage tools or the monitor 300 can be programmedto provide feedback or recommendations to the operator to manuallyadjust or remotely adjust the actuators as described above with respectto the planter application. For example, if the feedback orrecommendations to the operator indicate that the depth of the tillagetools should be adjusted, an actuator associated with ground engagingwheels supporting the toolbar or a section of the toolbar may beactuated to raise or lower the toolbar to decrease or increase the depthof penetration of the toolbars. Alternatively, separate actuators may beassociated with individual tillage tools to adjust the depth of theindividual tillage tools. As another example, if the work layer imagesindicate that the implement is approaching more dense or compact soil,actuators associated to adjust downforce or pressure may be actuated toincrease the downforce as the implement passes through the more dense orcompact soil. In other embodiments if the work layer images across thewidth of the implement indicate that one side or the other is tillingthe soil more aggressively, an actuator associated with a wing of theimplement may be actuated to ensure balancing of the aggressiveness oftillage tools across the side-to-side width of the implement. Likewisean actuator associated with fore and aft leveling of the implement maybe actuated to ensure aggressiveness of tools on the front of theimplement are balanced with those on the back. In still otherembodiments, actuators may be provided to adjust the angle of attack ofa disc gang or wing of a tillage implement, or individual tillage toolsdepending on the work layer images and operator feedback as theimplement traverses the field encountering different soil conditions.

In one embodiment, soil sensing information can be obtained anddisplayed during agricultural operations. A numeric display (e.g.,average or current value) and spatial mapping of depth of soil densitychange can be provided on an implement (e.g., on a planter, a tillagetool, combine, sprayer, on a tractor pulling a grain wagon, or a tractorpulling any implement). The implement includes a sensor (e.g., radar,electrical conductivity (EC), electromagnetic (EM), force probe, etc.)to measure or calculate at least one of the presence of one or more soildensities existing between 0 and 30″ of soil depth, a magnitude of thedensity layer differences or the soil densities themselves, a rate ofchange of the soil density layer changes (e.g., abrupt within 1″,gradual over 6″, etc.), and a soil depth at which each density layerstarts or transitions to a different density layer.

In one example, the implement can provide a numeric display (e.g.,average or current value) of the above information that is measured by asensor and calculated by a sensor or another device. The implement canalso provide a spatial mapping of the above information atgeo-referenced locations in the field associated with each soil propertymeasurement (e.g., by correlating measurements with concurrentgeo-referenced locations reported from the GPS unit 310).

In another example, a soil density change at a certain depth can becombined with a sensed moisture level at this depth or combined withsoil type or texture to process raw data to generate processed data.FIG. 16A illustrates raw data 1600 and FIG. 16B illustrates processeddata 1650 for different depths (e.g., 0 to 30″) of soil layers inaccordance with one embodiment. The processed data 1650 includesdifferent soil layers 1660, 1670, and 1680 at different soil depths(e.g., 0 to 30 inches). A root or stone may cause a change in soildensity within a layer or between layers. Depth of roots during harvestfor in row versus out of row can be determined based on soil density.

In another embodiment, a numeric display (e.g., average or currentvalue) and spatial mapping of depth of soil density change can beprovided on an implement (e.g., on a planter, a tillage tool, combine,sprayer, on a tractor pulling a grain wagon, or a tractor pulling anyimplement). The implement includes a sensor (e.g., radar, electricalconductivity (EC), electromagnetic (EM), force probe, etc.) to measureor calculate one or more soil density variabilities (e.g., 0″ to 4″, 4″to 12″, 0″ to 10″, 0 to 20″, etc.). In one example, the implement canprovide a numeric display of the above information that is measured by asensor and calculated by a sensor or another device. The implement canalso provide a spatial mapping of the above information atgeo-referenced locations in the field associated with each soil propertymeasurement (e.g., by correlating measurements with concurrentgeo-referenced locations reported the GPS unit 310).

In another embodiment, a numeric display (e.g., average or currentvalue) and spatial mapping of depth of soil density change can beprovided on an implement (e.g., on a planter, a tillage tool, combine,sprayer, on a tractor, or a tractor pulling any implement). Theimplement includes a sensor e.g., (radar, electrical conductivity (EC),electromagnetic (EM), force probe, etc.) to measure or calculate atleast one of soil density variability, soil surface roughness (measuredas Coefficient of Variation), and a residual material thickness (e.g.,crop residue). An instantaneous surface roughness may identify aninconsistent surface at a ground level (e.g., 0″ depth). The soilsurface roughness parameter can be analyzed to determine if a clod ofsoil at a certain depth (e.g., 0 to 3 inches) causes a change in thisparameter. The soil surface roughness parameter (e.g., percentage,visual mapping) can be displayed during tillage or leveling of a field.

The residual material thickness can be compared in row versus out of rowfor rows of a field. Based on the residual material thickness parameter,a row cleaner down force of a planter may need to be adjusted. Aresidual material thickness can be displayed to a user while plantingseed.

In one example, the implement can provide a numeric display of the aboveinformation that is measured by a sensor and calculated by a sensor oranother device. The implement can also provide a spatial mapping of theabove information at geo-referenced locations in the field associatedwith each soil property measurement (e.g., by correlating measurementswith concurrent geo-referenced locations reported the GPS unit 310).

In one embodiment, a soil GPR (System) uses radar for sensing soilproperties by measuring a soil dielectric constant of soil using animplement (e.g., planter, tillage tool, combine, tractor pulling a grainwagon, tractor pulling any implement, etc.). The system includes one ormore radar transmitters, receivers, antennas or any combination oftransmitters, receivers, and antennas that sense at multiple soil depths(e.g., first soil depth, second soil depth, third soil depth, etc.).Generally, a GPR system operates with a first transmitter radiating apulse into soil, then the first receiver collects the reflected signal,and this process repeats from every pair of transmitters and receivers.An EC sensor can sense electrical conductivity of soil and thisparameter corresponds to soil dielectric constant that is used toconvert a transmit/receive time of a radar signal into a distance todetermine a soil depth. Radar provides reflections at multiple depths todetermine different soil density layers.

GPR is a geophysical method that uses radar pulses to image thesubsurface. This nondestructive method uses electromagnetic radiation inthe microwave band (UHF/VHF frequencies) of the radio spectrum, anddetects the reflected signals from subsurface structures. GPR useshigh-frequency (usually polarized) radio waves, usually in the range 10MHz to 2.6 GHz. A GPR transmitter emits electromagnetic energy into theground. When the energy encounters a buried object or a boundary betweenmaterials having different permittivities, it may be reflected orrefracted or scattered back to the surface. A receiving antenna can thenrecord the variations in the return signal. The principles involved aresimilar to seismology, except GPR methods implement electromagneticenergy rather than acoustic energy, and energy may be reflected atboundaries where subsurface electrical properties change rather thansubsurface mechanical properties as is the case with seismic energy. Theelectrical conductivity of the ground, the transmitted center frequency,and the radiated power all may limit the effective depth range of GPRinvestigation. Increases in electrical conductivity attenuate theintroduced electromagnetic wave, and thus the penetration depthdecreases. Higher frequencies do not penetrate as far as lowerfrequencies due to frequency-dependent attenuation mechanisms thoughhigher frequencies may provide improved resolution.

In another embodiment, soil system includes radar and optical soilsensing. Examples of optical soil sensing can be found in WO2014/153157,WO2015/171908, and U.S. Application Nos. 62/436,342, filed 19 Dec. 2016,62/446,254, filed 13 Jan. 2017, and 62/482,116, filed 5 Apr. 2017. Thesoil system includes one or more radar transmitters, receivers, antennasor any combination of transmitters, receivers, and antennas that senseat multiple soil depths (e.g., first soil depth, second soil depth,third soil depth, etc.). The system further includes multiple radarantennas combined with one or more radar transmitters and receivers orcombination transmitters or receivers. The system further includes oneor more optical sensors (e.g., breaking of a light beam) to sense soilorganic matter, soil moisture, soil texture, and soil cation-exchangecapacity (CEC).

In one example, a common midpoint (CMP) antenna array can be utilized bypositioning a target at a known depth, generating and receiving EMpulses, and then calculating for that depth.

FIGS. 17-23 illustrate a monitor 300 displaying different measured soildata. While illustrated with some data shown together and some datashown separately for illustration purposes, any of the data can bedisplayed together or individually. FIG. 17 illustrates screen 2010 onmonitor 300 displaying the number of different soil density layers, thedensity of each layer, the depth of the interface between layers,magnitude of density layer difference, and a rate of change of density.FIG. 18 illustrates screen 2020 displaying the depth of interfacesbetween layers as the implement is moved across the soil. FIG. 19illustrates a screen 2030 on monitor 300 displaying a spatial map acrossa field for the depth of the first soil layer. The greater the depth,the more preferred. In this embodiment, the depths can be coloredseparately, such as green for 14-20″, yellow for 8-13″, and red for1-7″. FIG. 20 illustrates screen 2040 on monitor 300 displaying soildensity variability and the soil density variability as the implement ismoved across the field. FIG. 21 illustrates screen 2050 on monitor 300displaying soil surface roughness and soil surface roughness as theimplement is moved across the field. FIG. 22 illustrates screen 2060 onmonitor 300 displaying residue mat thickness and residue mat thicknessas the implement is moved across the field. FIG. 23 illustrates screen2070 on monitor 300 spatially displaying residue mat thickness across afield. While illustrated for residue mat thickness, any of the abovesoil measurements can be similarly displayed spatially. Also, color canbe assigned to each thickness range.

FIG. 24 shows an example of a system 1200 that includes a machine 1202(e.g., tractor, combine harvester, etc.) and an implement 1240 (e.g.,planter, sidedress bar, cultivator, plough, sprayer, spreader,irrigation implement, etc.) in accordance with one embodiment. Themachine 1202 includes a processing system 1220, memory 1205, machinenetwork 1210 (e.g., a controller area network (CAN) serial bus protocolnetwork, an ISOBUS network, etc.), and a network interface 1215 forcommunicating with other systems or devices including the implement1240. The machine network 1210 includes sensors 1212 (e.g., speedsensors), controllers 1211 (e.g., GPS receiver, radar unit) forcontrolling and monitoring operations of the machine or implement. Thenetwork interface 1215 can include at least one of a GPS transceiver, aWLAN transceiver (e.g., WiFi), an infrared transceiver, a Bluetoothtransceiver, Ethernet, or other interfaces from communications withother devices and systems including the implement 1240. The networkinterface 1215 may be integrated with the machine network 1210 orseparate from the machine network 1210 as illustrated in FIG. 12. TheI/O ports 1229 (e.g., diagnostic/on board diagnostic (OBD) port) enablecommunication with another data processing system or device (e.g.,display devices, sensors, etc.).

In one example, the machine performs operations of a tractor that iscoupled to an implement for planting applications and soil sensing of afield. The planting data and soil data for each row unit of theimplement can be associated with locational data at time of applicationto have a better understanding of the planting and soil characteristicsfor each row and region of a field. Data associated with the plantingapplications and soil characteristics can be displayed on at least oneof the display devices 1225 and 1230. The display devices can beintegrated with other components (e.g., processing system 1220, memory1205, etc.) to form the monitor 300.

The processing system 1220 may include one or more microprocessors,processors, a system on a chip (integrated circuit), or one or moremicrocontrollers. The processing system includes processing logic 1226for executing software instructions of one or more programs and acommunication unit 1228 (e.g., transmitter, transceiver) fortransmitting and receiving communications from the machine via machinenetwork 1210 or network interface 1215 or implement via implementnetwork 1250 or network interface 1260. The communication unit 1228 maybe integrated with the processing system or separate from the processingsystem. In one embodiment, the communication unit 1228 is in datacommunication with the machine network 1210 and implement network 1250via a diagnostic/OBD port of the I/O ports 1229.

Processing logic 1226 including one or more processors or processingunits may process the communications received from the communicationunit 1228 including agricultural data (e.g., GPS data, plantingapplication data, soil characteristics, any data sensed from sensors ofthe implement 1240 and machine 1202, etc.). The system 1200 includesmemory 1205 for storing data and programs for execution (software 1206)by the processing system. The memory 1205 can store, for example,software components such as planting application software or soilsoftware for analysis of soil and planting applications for performingoperations of the present disclosure, or any other software applicationor module, images (e.g., captured images of crops, soil, furrow, soilclods, row units, etc.), alerts, maps, etc. The memory 1205 can be anyknown form of a machine readable non-transitory storage medium, such assemiconductor memory (e.g., flash; SRAM; DRAM; etc.) or non-volatilememory, such as hard disks or solid-state drive. The system can alsoinclude an audio input/output subsystem (not shown) which may include amicrophone and a speaker for, for example, receiving and sending voicecommands or for user authentication or authorization (e.g., biometrics).

The processing system 1220 communicates bi-directionally with memory1205, machine network 1210, network interface 1215, header 1280, displaydevice 1230, display device 1225, and I/O ports 1229 via communicationlinks 1231-1236, respectively. The processing system 1220 can beintegrated with the memory 1205 or separate from the memory 1205.

Display devices 1225 and 1230 can provide visual user interfaces for auser or operator. The display devices may include display controllers.In one embodiment, the display device 1225 is a portable tablet deviceor computing device with a touchscreen that displays data (e.g.,planting application data, captured images, localized view map layer,high definition field maps of different measured soil data, as-plantedor as-harvested data or other agricultural variables or parameters,yield maps, alerts, etc.) and data generated by an agricultural dataanalysis software application and receives input from the user oroperator for an exploded view of a region of a field, monitoring andcontrolling field operations. The operations may include configurationof the machine or implement, reporting of data, control of the machineor implement including sensors and controllers, and storage of the datagenerated. The display device 1230 may be a display (e.g., displayprovided by an original equipment manufacturer (OEM)) that displaysimages and data for a localized view map layer, measured soil data,as-applied fluid application data, as-planted or as-harvested data,yield data, seed germination data, seed environment data, controlling amachine (e.g., planter, tractor, combine, sprayer, etc.), steering themachine, and monitoring the machine or an implement (e.g., planter,combine, sprayer, etc.) that is connected to the machine with sensorsand controllers located on the machine or implement.

A cab control module 1270 may include an additional control module forenabling or disabling certain components or devices of the machine orimplement. For example, if the user or operator is not able to controlthe machine or implement using one or more of the display devices, thenthe cab control module may include switches to shut down or turn offcomponents or devices of the machine or implement.

The implement 1240 (e.g., planter, cultivator, plough, sprayer,spreader, irrigation implement, etc.) includes an implement network1250, a processing system 1262, a network interface 1260, and optionalinput/output ports 1266 for communicating with other systems or devicesincluding the machine 1202. The implement network 1250 (e.g., acontroller area network (CAN) serial bus protocol network, an ISOBUSnetwork, etc.) includes a pump 1256 for pumping fluid from a storagetank(s) 1290 to application units 1280, 1281, . . . N of the implement,sensors 1252 (e.g., radar, electroconductivity, electromagnetic, a forceprobe, speed sensors, seed sensors for detecting passage of seed,sensors for detecting characteristics of soil or a trench including aplurality of soil layers differing by density, a depth of a transitionfrom a first soil layer to a second soil layer based on density of eachlayer, a magnitude of a density layer difference between soil layers, arate of change of soil density across a depth of soil, soil densityvariability, soil surface roughness, residue mat thickness, a density ata soil layer, soil temperature, seed presence, seed spacing, percentageof seeds firmed, and soil residue presence, at least one optical sensorto sense at least one of soil organic matter, soil moisture, soiltexture, and soil cation-exchange capacity (CEC), downforce sensors,actuator valves, moisture sensors or flow sensors for a combine, speedsensors for the machine, seed force sensors for a planter, fluidapplication sensors for a sprayer, or vacuum, lift, lower sensors for animplement, flow sensors, etc.), controllers 1254 (e.g., GPS receiver),and the processing system 1262 for controlling and monitoring operationsof the implement. The pump controls and monitors the application of thefluid to crops or soil as applied by the implement. The fluidapplication can be applied at any stage of crop development includingwithin a planting trench upon planting of seeds, adjacent to a plantingtrench in a separate trench, or in a region that is nearby to theplanting region (e.g., between rows of corn or soybeans) having seeds orcrop growth.

For example, the controllers may include processors in communicationwith a plurality of seed sensors. The processors are configured toprocess data (e.g., fluid application data, seed sensor data, soil data,furrow or trench data) and transmit processed data to the processingsystem 1262 or 1220. The controllers and sensors may be used formonitoring motors and drives on a planter including a variable ratedrive system for changing plant populations. The controllers and sensorsmay also provide swath control to shut off individual rows or sectionsof the planter. The sensors and controllers may sense changes in anelectric motor that controls each row of a planter individually. Thesesensors and controllers may sense seed delivery speeds in a seed tubefor each row of a planter.

The network interface 1260 can be a GPS transceiver, a WLAN transceiver(e.g., WiFi), an infrared transceiver, a Bluetooth transceiver,Ethernet, or other interfaces from communications with other devices andsystems including the machine 1202. The network interface 1260 may beintegrated with the implement network 1250 or separate from theimplement network 1250 as illustrated in FIG. 24.

The processing system 1262 communicates bi-directionally with theimplement network 1250, network interface 1260, and I/O ports 1266 viacommunication links 1241-1243, respectively.

The implement communicates with the machine via wired and possibly alsowireless bi-directional communications 1204. The implement network 1250may communicate directly with the machine network 1210 or via thenetwork interfaces 1215 and 1260. The implement may also by physicallycoupled to the machine for agricultural operations (e.g., soil sensing,planting, harvesting, spraying, etc.).

The memory 1205 may be a machine-accessible non-transitory medium onwhich is stored one or more sets of instructions (e.g., software 1206)embodying any one or more of the methodologies or functions describedherein. The software 1206 may also reside, completely or at leastpartially, within the memory 1205 and/or within the processing system1220 during execution thereof by the system 1200, the memory and theprocessing system also constituting machine-accessible storage media.The software 1206 may further be transmitted or received over a networkvia the network interface 1215.

In one embodiment, a machine-accessible non-transitory medium (e.g.,memory 1205) contains executable computer program instructions whichwhen executed by a data processing system cause the system to performsoperations or methods of the present disclosure. While themachine-accessible non-transitory medium (e.g., memory 1205) is shown inan exemplary embodiment to be a single medium, the term“machine-accessible non-transitory medium” should be taken to include asingle medium or multiple media (e.g., a centralized or distributeddatabase, and/or associated caches and servers) that store the one ormore sets of instructions. The term “machine-accessible non-transitorymedium” shall also be taken to include any medium that is capable ofstoring, encoding or carrying a set of instructions for execution by themachine and that cause the machine to perform any one or more of themethodologies of the present disclosure. The term “machine-accessiblenon-transitory medium” shall accordingly be taken to include, but not belimited to, solid-state memories, optical and magnetic media, andcarrier wave signals.

Any of the following examples can be combined into a single embodimentor these examples can be separate embodiments. In one example of a firstembodiment, a soil sensing system comprises an agricultural implementand at least one sensor disposed on the agricultural implement. Thesensor generates an electromagnetic field through a region of soil ofinterest as the agricultural implement traverses a field. The sensorcomprises at least one radar transmitter and at least one radar receiveror a transceiver and the sensor measures a soil dielectric constant ofthe region of soil of interest.

In another example of the first embodiment, the soil sensing systemfurther comprises a monitor in communication with the sensor and adaptedto generate a numeric display or a spatial mapping of the soildielectric constant for a region of a field based on the generatedelectromagnetic field through the region of interest.

In another example of the first embodiment, the implement comprises aplanter.

In another example of the first embodiment, the implement comprises oneof a tractor, a planter, a seeder, a tillage tool, a combine, a sprayer,and an agricultural toolbar.

In another example of the first embodiment, the sensor to measure orcalculate at least one of the presence of one or more soil densitiesexisting between 0 and 30 inches of soil depth, a magnitude of thedensity layer differences or a magnitude of the soil densities, a rateof change of the soil density layer changes, and a soil depth at whicheach density layer starts or transitions to a different density layer.

In another example of the first embodiment, the sensor to measure orcalculate a soil density change at a certain depth and a sensed moisturelevel at this depth or combined with soil type or texture to process rawdata to generate processed data.

In another example of the first embodiment, the sensor to measure orcalculate at least one of soil density variability, soil surfaceroughness that is measured as Coefficient of Variation, and a residualmaterial thickness.

In another example of the first embodiment, the sensor generates theelectromagnetic field having a frequency range of 10 MHz to 2.6 GHz.

In one example of a second embodiment, an implement comprises a firstradar transceiver or a combination of a first radar transmitter andfirst radar receiver for sensing soil properties at a first depth ofsoil and a second radar transceiver or a combination of a second radartransmitter and second radar receiver for sensing soil properties at asecond depth of soil.

In another example of the second embodiment, the implement comprises oneof a tractor, a planter, a seeder, a tillage tool, a combine, a sprayer,and an agricultural toolbar.

In another example of the second embodiment, the implement comprises aplanter.

In another example of the second embodiment, the implement furthercomprises a monitor in communication with the first radar transceiver ora combination of the first radar transmitter and first radar receiverand the second radar transceiver or a combination of the second radartransmitter and second radar receiver and adapted to generate a numericdisplay or a spatial mapping of the soil at the first depth and thesecond depth.

In another example of the second embodiment, the implement furthercomprises an electrical conductivity sensor to sense electricalconductivity of soil with the electrical conductivity corresponding to asoil dielectric constant.

In one example of a third embodiment, a soil sensing system for sensingsoil properties comprises an implement, a radar transceiver or acombination of radar transmitter and a radar receiver disposed on theimplement for sensing soil properties at a depth of soil and at leastone optical sensor to sense at least one of soil organic matter, soilmoisture, soil texture, and soil cation-exchange capacity (CEC).

In another example of the third embodiment, the implement is one of atractor, a planter, a seeder, a tillage tool, a combine, a sprayer, andan agricultural toolbar.

In another example of the third embodiment, the implement is a planter.

In another example of the third embodiment, the soil sensing systemfurther comprises a monitor in communication with the radar transceiveror a combination of the radar transmitter and the radar receiver and theoptical sensor and adapted to generate a numeric display or a spatialmapping of the soil.

In one example of a fourth embodiment, a soil sensing system comprisesan agricultural implement and at least one sensor disposed on theagricultural implement and directed to soil to measure at least one of:

-   -   a plurality of soil layers differing by density; a depth of a        transition from a first soil layer to a second soil layer based        on density of each layer; a magnitude of a density layer        difference between soil layers; a rate of change of soil density        across a depth of soil; soil density variability; soil surface        roughness; residue mat thickness; and a density at a soil layer.

In another example of the fourth embodiment, the sensor is one of radar,electroconductivity, electromagnetic, and a force probe.

In another example of the fourth embodiment, the agricultural implementis one of a tractor, a planter, a seeder, a tillage tool, a combine, asprayer, and an agricultural toolbar.

In another example of the fourth embodiment, the soil sensing systemfurther comprises a monitor in communication with the sensor and adaptedto generate a numeric display or a spatial mapping of the soil.

In another example of the fourth embodiment, the soil sensing systemfurther comprises a common midpoint (CMP) antenna array that is utilizedby positioning a target at a known depth, transmitting electromagneticpulses into soil, receiving electromagnetic pulses, and then calculatingfor that depth.

In one example of a fifth embodiment as illustrated in FIG. 25, a method2500 of measuring residue mat thickness of residue in a field comprisestraversing an implement across a field at operation 2502. A radartransceiver or a combination of radar transmitter and a radar receiveris disposed on the implement for sensing residue on the field. Atoperation 2504, the method includes measuring, with the implement, anamount of residue thickness at geo-referenced locations in the field,and storing the amount of residue thickness at each geo-referencedlocation in memory at operation 2506.

In another example of the fifth embodiment, the method further comprisesdisplaying on a display residue thickness at each geo-referencedlocation at operation 2508.

In another example of the fifth embodiment, the method further comprisesdisplaying on the display as illustrated in FIG. 22 the residuethickness for an individual row as the implement is moved across thefield at operation 2510.

In another example of the fifth embodiment, the method further comprisesspatially displaying with a map on the display as illustrated in FIG. 23residue thickness ranges for multiple rows across the field at operation2512.

In another example of the fifth embodiment, the implement is one of atractor, a planter, a seeder, a tillage tool, a combine, a sprayer, andan agricultural toolbar.

In one example of a sixth embodiment as illustrated in FIG. 26, a method2600 to generate processed soil data (e.g., processed soil data of FIG.16B) comprises traversing an implement across a field at operation 2602.A radar transceiver or a combination of radar transmitter and a radarreceiver is disposed on the implement for sensing soil characteristicsof the field. At operation 2604, the method includes measuring, with theimplement, a soil density change at a first depth. At operation 2606,the method further includes combining the soil density change with thesensed moisture level at the first depth to generate a first processedsoil data.

In another example of the sixth embodiment, the method further comprisesmeasuring, with the implement, a soil density change at a second depth,measuring, with the implement, a sensed moisture level at the seconddepth and combining the soil density change with the sensed moisturelevel at the second depth to generate a second processed soil data atoperation 2608.

In another example of the sixth embodiment, a depth of roots duringharvest for in row versus out of row are determined based on soildensity.

In another example of the sixth embodiment, the method further comprisesmeasuring, with the implement, soil type or texture and combining thesoil density change with the soil type or texture to generate a thirdprocessed soil data at operation 2610.

In one example of a seventh embodiment as illustrated in FIG. 27, amethod 2700 of measuring soil characteristics in a field comprisestraversing an implement across a field at operation 2702. A radartransceiver or a combination of radar transmitter and a radar receiveris disposed on the implement for sensing soil characteristics of thefield. At operation 2704, the method includes measuring, with theimplement, a depth of a first density layer at geo-referenced locationsin the field and storing the depth of the first density layer at eachgeo-referenced location in memory.

In another example of the seventh embodiment, the method furthercomprises displaying with a spatial map (e.g., screen 2030 of FIG. 19)on a display the depth of the first density layer at each geo-referencedlocation at operation 2706.

In another example of the seventh embodiment, the method furthercomprises measuring a depth of a second density layer at geo-referencedlocations in the field and storing the depth of the second density layerat each geo-referenced location in memory at operation 2708.

What is claimed is:
 1. A soil sensing system comprising: an agriculturalimplement; and at least one sensor disposed on the agriculturalimplement, the sensor generating an electromagnetic field through aregion of soil of interest as the agricultural implement traverses afield, wherein the sensor comprises at least one radar transmitter andat least one radar receiver or a transceiver and the sensor measures asoil dielectric constant of the region of soil of interest.
 2. The soilsensing system of claim 1, further comprising: a monitor incommunication with the sensor and adapted to generate a numeric displayor a spatial mapping of the soil dielectric constant for a region of afield based on the generated electromagnetic field through the region ofinterest.
 3. The soil sensing system of claim 1, wherein the implementcomprises a planter.
 4. The soil sensing system of claim 1, wherein theimplement comprises one of a tractor, a planter, a seeder, a tillagetool, a combine, a sprayer, and an agricultural toolbar.
 5. The soilsensing system of claim 1, wherein the sensor to measure or calculate atleast one of the presence of one or more soil densities existing between0 and 30 inches of soil depth, a magnitude of the density layerdifferences or a magnitude of the soil densities, a rate of change ofthe soil density layer changes, and a soil depth at which each densitylayer starts or transitions to a different density layer.
 6. The soilsensing system of claim 5, wherein the sensor to measure or calculate asoil density change at a certain depth and a sensed moisture level atthis depth or combined with soil type or texture to process raw data togenerate processed data.
 7. The soil sensing system of claim 1, whereinthe sensor to measure or calculate at least one of soil densityvariability, soil surface roughness that is measured as Coefficient ofVariation, and a residual material thickness.
 8. The soil sensing systemof claim 1, wherein the sensor generates the electromagnetic fieldhaving a frequency range of 10 MHz to 2.6 GHz.
 9. An implementcomprising: a first radar transceiver or a combination of a first radartransmitter and first radar receiver for sensing soil properties at afirst depth of soil; and a second radar transceiver or a combination ofa second radar transmitter and second radar receiver for sensing soilproperties at a second depth of soil.
 10. The implement of claim 9,wherein the implement comprises one of a tractor, a planter, a seeder, atillage tool, a combine, a sprayer, and an agricultural toolbar.
 11. Theimplement of claim 9, wherein the implement comprises a planter.
 12. Theimplement of claim 9 further comprising: a monitor in communication withthe first radar transceiver or a combination of the first radartransmitter and first radar receiver and the second radar transceiver ora combination of the second radar transmitter and second radar receiverand adapted to generate a numeric display or a spatial mapping of thesoil at the first depth and the second depth.
 13. The implement of claim9, further comprising: an electrical conductivity sensor to senseelectrical conductivity of soil with the electrical conductivitycorresponding to a soil dielectric constant.
 14. A soil sensing systemfor sensing soil properties comprising: an implement; a radartransceiver or a combination of radar transmitter and a radar receiverdisposed on the implement for sensing soil properties at a depth ofsoil; and at least one optical sensor to sense at least one of soilorganic matter, soil moisture, soil texture, and soil cation-exchangecapacity (CEC).
 15. The soil sensing system of claim 14, wherein theimplement is one of a tractor, a planter, a seeder, a tillage tool, acombine, a sprayer, and an agricultural toolbar.
 16. The soil sensingsystem of claim 14, wherein the implement is a planter.
 17. The soilsensing system of claim 14 further comprising: a monitor incommunication with the radar transceiver or a combination of the radartransmitter and the radar receiver and the optical sensor and adapted togenerate a numeric display or a spatial mapping of the soil.
 18. A soilsensing system comprising: an agricultural implement; and at least onesensor disposed on the agricultural implement and directed to soil tomeasure at least one of: a plurality of soil layers differing bydensity; a depth of a transition from a first soil layer to a secondsoil layer based on density of each layer; a magnitude of a densitylayer difference between soil layers; a rate of change of soil densityacross a depth of soil; soil density variability; soil surfaceroughness; residue mat thickness; and a density at a soil layer.
 19. Thesoil sensing system of claim 18, wherein the sensor is one of radar,electroconductivity, electromagnetic, and a force probe.
 20. The soilsensing system of claim 18, wherein the agricultural implement is one ofa tractor, a planter, a seeder, a tillage tool, a combine, a sprayer,and an agricultural toolbar.
 21. The soil sensing system of claim 18further comprising: a monitor in communication with the sensor andadapted to generate a numeric display or a spatial mapping of the soil.22. The soil sensing system of claim 18 further comprising: a commonmidpoint (CMP) antenna array is utilized by positioning a target at aknown depth, transmitting electromagnetic pulses into soil, receivingelectromagnetic pulses, and then calculating for that depth.
 23. Amethod of measuring residue mat thickness of residue in a fieldcomprising: traversing an implement across a field, wherein a radartransceiver or a combination of radar transmitter and a radar receiveris disposed on the implement for sensing residue on the field; measuringan amount of residue thickness at geo-referenced locations in the field;and storing the amount of residue thickness at each geo-referencedlocation in memory.
 24. The method of claim 23, further comprising:displaying on a display residue thickness at each geo-referencedlocation.
 25. The method of claim 23, further comprising: displaying onthe display the residue thickness for an individual row as the implementis moved across the field.
 26. The method of claim 23, furthercomprising: spatially displaying with a map on the display residuethickness ranges for multiple rows across the field.
 27. The method ofclaim 23, wherein the implement is one of a tractor, a planter, aseeder, a tillage tool, a combine, a sprayer, and an agriculturaltoolbar.
 28. A method to generate processed soil data comprising:traversing an implement across a field, wherein a radar transceiver or acombination of radar transmitter and a radar receiver is disposed on theimplement for sensing soil characteristics of the field; measuring, withthe implement, a soil density change at a first depth; measuring, withthe implement, a sensed moisture level at the first depth; and combiningthe soil density change with the sensed moisture level at the firstdepth to generate a first processed soil data.
 29. The method of claim28, further comprising: measuring, with the implement, a soil densitychange at a second depth; measuring, with the implement, a sensedmoisture level at the second depth; and combining the soil densitychange with the sensed moisture level at the second depth to generate asecond processed soil data.
 30. The method of claim 28, wherein a depthof roots during harvest for in row versus out of row are determinedbased on soil density.
 31. The method of claim 28, further comprising:measuring, with the implement, soil type or texture; and combining thesoil density change with the soil type or texture to generate a thirdprocessed soil data.
 32. A method of measuring soil characteristics in afield comprising: traversing an implement across a field, wherein aradar transceiver or a combination of radar transmitter and a radarreceiver is disposed on the implement for sensing soil characteristicsof the field; measuring, with the implement, a depth of a first densitylayer at geo-referenced locations in the field; and storing the depth ofthe first density layer at each geo-referenced location in memory. 33.The method of claim 32, further comprising: displaying with a spatialmap on a display the depth of the first density layer at eachgeo-referenced location.
 34. The method of claim 32, further comprising:measuring a depth of a second density layer at geo-referenced locationsin the field; and storing the depth of the second density layer at eachgeo-referenced location in memory.